feat: render Q10 map obstacle markers

roborock/cli.py

@@ -605,6 +605,7 @@ async def maps(ctx, device_id: str):
 async def _await_q10_map_push(
     properties: Q10PropertiesApi,
     predicate: Callable[[], bool],
+    revision: Callable[[], int],
     *,
     timeout: float = _Q10_MAP_PUSH_TIMEOUT,
     allow_cached_on_timeout: bool = False,
@@ -617,9 +618,10 @@ async def _await_q10_map_push(
     """
     loop = asyncio.get_running_loop()
     updated: asyncio.Future[None] = loop.create_future()
+    initial_revision = revision()
 
     def on_update() -> None:
-        if predicate() and not updated.done():
+        if revision() > initial_revision and predicate() and not updated.done():
             updated.set_result(None)
 
     unsub = properties.map.add_update_listener(on_update)
@@ -649,6 +651,7 @@ async def map_image(ctx, device_id: str, output_file: str):
         await _await_q10_map_push(
             properties,
             lambda: properties.map.image_content is not None,
+            lambda: properties.map.map_revision,
             allow_cached_on_timeout=True,
         )
         image_content = properties.map.image_content
@@ -697,8 +700,8 @@ async def map_data(ctx, device_id: str, include_path: bool):
 async def q10_position(ctx, device_id: str, include_path: bool):
     """Get the current Q10 robot position and live cleaning path.
 
-    The Q10 only streams its position/path while it is actively cleaning, so this
-    will report that no live trace is available for an idle/docked robot.
+    The Q10 normally streams position/path while it is actively cleaning, so an
+    idle device may report that no fresh live trace is available.
     """
     context: RoborockContext = ctx.obj
     device_manager = await context.get_device_manager()
@@ -710,9 +713,10 @@ async def q10_position(ctx, device_id: str, include_path: bool):
     got_trace = await _await_q10_map_push(
         properties,
         lambda: bool(properties.map.path),
+        lambda: properties.map.trace_revision,
     )
     if not got_trace:
-        click.echo("No live trace available (the robot only reports position while cleaning).")
+        click.echo("No fresh live trace available.")
         return
     map_trait = properties.map
     position = map_trait.robot_position
@@ -889,6 +893,7 @@ async def rooms(ctx, device_id: str):
         await _await_q10_map_push(
             properties,
             lambda: properties.map.image_content is not None,
+            lambda: properties.map.map_revision,
             allow_cached_on_timeout=True,
         )
         click.echo(dump_json({room.id: room.name for room in properties.map.rooms}))

roborock/data/b01_q10/b01_q10_containers.py

@@ -144,7 +144,9 @@ class Q10MapInfo(RoborockBase):
     """A saved map reported by ``dpMultiMap``.
 
     Q10 firmware represents the map identifier as a string on the wire. The
-    value is sent back unchanged in a subsequent ``{"op": "get"}`` request.
+    value is sent back unchanged in a subsequent ``{"op": "select"}`` detail
+    request. On Q10 firmware, ``select`` previews a saved map without applying
+    it as the active map.
     """
 
     id: str

roborock/devices/device_manager.py

@@ -19,6 +19,7 @@
 from roborock.devices.device import DeviceReadyCallback, RoborockDevice
 from roborock.diagnostics import Diagnostics, redact_device_data
 from roborock.exceptions import RoborockException
+from roborock.map.b01_q10_map_parser import B01Q10MapParserConfig
 from roborock.map.map_parser import MapParserConfig
 from roborock.mqtt.roborock_session import create_lazy_mqtt_session
 from roborock.mqtt.session import MqttSession, SessionUnauthorizedHook
@@ -262,7 +263,17 @@ def device_creator(home_data: HomeData, device: HomeDataDevice, product: HomeDat
                 if "ss" in model_part:
                     b01_q10_channel = create_b01_q10_channel(mqtt_channel)
                     channel = b01_q10_channel
-                    trait = b01.q10.create(channel)
+                    trait = b01.q10.create(
+                        channel,
+                        map_parser_config=(
+                            B01Q10MapParserConfig(
+                                map_scale=map_parser_config.map_scale,
+                                drawables=map_parser_config.drawables,
+                            )
+                            if map_parser_config
+                            else None
+                        ),
+                    )
                 elif "sc" in model_part:
                     # Q7 devices start with 'sc' in their model naming.
                     b01_q7_channel = create_b01_q7_channel(device, product, mqtt_channel)

roborock/devices/traits/b01/q10/__init__.py

@@ -8,7 +8,13 @@
 from roborock.data.containers import RoborockBase
 from roborock.devices.rpc.b01_q10_channel import B01Q10Channel
 from roborock.devices.traits import Trait
-from roborock.map.b01_q10_map_parser import Q10MapPacket, Q10TracePacket
+from roborock.map.b01_q10_map_parser import (
+    B01Q10MapParserConfig,
+    Q10CleanRecordDetail,
+    Q10MapPacket,
+    Q10MapPacketKind,
+    Q10TracePacket,
+)
 from roborock.protocols.b01_q10_protocol import Q10DpsUpdate, Q10Message
 
 from .button_light import ButtonLightTrait
@@ -92,7 +98,12 @@ class Q10PropertiesApi(Trait):
     clean_history: CleanHistoryTrait
     """Trait for fetching the device clean-record history (``dpCleanRecord``)."""
 
-    def __init__(self, channel: B01Q10Channel) -> None:
+    def __init__(
+        self,
+        channel: B01Q10Channel,
+        *,
+        map_parser_config: B01Q10MapParserConfig,
+    ) -> None:
         """Initialize the B01Props API."""
         self._channel = channel
         self.command = CommandTrait(channel)
@@ -106,10 +117,17 @@ def __init__(self, channel: B01Q10Channel) -> None:
         self.network_info = NetworkInfoTrait()
         self.consumable = ConsumableTrait()
         self._map_dps = MapDpsTrait()
-        self.maps = MapsTrait(self.command)
-        self.map = MapContentTrait(self._map_dps, self.maps, self.command)
+        self.maps = MapsTrait(self.command, map_parser_config=map_parser_config)
+        self.map = MapContentTrait(
+            self._map_dps,
+            self.command,
+            map_parser_config=map_parser_config,
+        )
+        self.clean_history = CleanHistoryTrait(
+            self.command,
+            map_parser_config=map_parser_config,
+        )
         self.vacuum = VacuumTrait(self.command, self.status, self.map)
-        self.clean_history = CleanHistoryTrait(self.command)
         # Read-model traits updated from the device's DPS push stream.
         self._updatable_traits = [
             self.status,
@@ -131,6 +149,8 @@ async def start(self) -> None:
 
     async def close(self) -> None:
         """Close any resources held by the trait."""
+        self.maps.close()
+        self.clean_history.close()
         await self.vacuum.close()
         if self._subscribe_task is not None:
             self._subscribe_task.cancel()
@@ -158,7 +178,12 @@ def _handle_message(self, message: Q10Message) -> None:
         Map-list DPS responses and other DPS updates feed the read-model traits.
         """
         if isinstance(message, Q10MapPacket):
-            self.map.update_from_map_packet(message)
+            if message.kind is Q10MapPacketKind.CURRENT:
+                self.map.update_from_map_packet(message)
+            elif message.kind is Q10MapPacketKind.SAVED_MAP_DETAIL:
+                self.maps.update_from_map_packet(message)
+        elif isinstance(message, Q10CleanRecordDetail):
+            self.clean_history.update_from_detail(message)
         elif isinstance(message, Q10TracePacket):
             self.map.update_from_trace_packet(message)
         elif isinstance(message, Q10DpsUpdate):
@@ -179,6 +204,13 @@ def as_dict(self) -> dict[str, Any]:
         return result
 
 
-def create(channel: B01Q10Channel) -> Q10PropertiesApi:
+def create(
+    channel: B01Q10Channel,
+    *,
+    map_parser_config: B01Q10MapParserConfig | None = None,
+) -> Q10PropertiesApi:
     """Create traits for B01 devices."""
-    return Q10PropertiesApi(channel)
+    return Q10PropertiesApi(
+        channel,
+        map_parser_config=map_parser_config or B01Q10MapParserConfig(),
+    )

roborock/devices/traits/b01/q10/clean_history.py

@@ -10,8 +10,9 @@
 a ``dpCleanRecord`` envelope into a :class:`CleanRecordPush`, and the trait applies it.
 """
 
+import asyncio
 import logging
-from dataclasses import dataclass, field
+from dataclasses import dataclass, field, replace
 from typing import Any
 
 from roborock.data.b01_q10.b01_q10_code_mappings import (
@@ -22,6 +23,17 @@
     YXStartMethod,
 )
 from roborock.data.b01_q10.b01_q10_containers import Q10CleanRecord
+from roborock.exceptions import RoborockException, RoborockTimeout
+from roborock.map.b01_q10_map_parser import (
+    B01Q10MapParserConfig,
+    Q10CleanRecordDetail,
+    Q10HistoricalTracePacket,
+    Q10MapPacket,
+    Q10MapPacketKind,
+    Q10Obstacle,
+    Q10Point,
+)
+from roborock.map.b01_q10_render import Q10MapOverlays, render_q10_map
 
 from .command import CommandTrait
 from .common import UpdatableTrait
@@ -33,6 +45,7 @@
 ]
 
 _LOGGER = logging.getLogger(__name__)
+_DETAIL_TIMEOUT = 30.0
 
 _RECORD_FIELD_COUNT = 12
 
@@ -115,12 +128,32 @@ class CleanHistoryTrait(UpdatableTrait):
     or a single ``op:"notify"`` record) rather than a flat data-point-to-field map.
     """
 
-    def __init__(self, command: CommandTrait) -> None:
+    _command: CommandTrait
+
+    def __init__(
+        self,
+        command: CommandTrait,
+        *,
+        map_parser_config: B01Q10MapParserConfig,
+    ) -> None:
         """Initialize the clean history trait."""
         UpdatableTrait.__init__(self, command, _LOGGER)
+        self._command = command
         self._converter = CleanRecordConverter()
+        self._map_parser_config = map_parser_config
         self.records: list[Q10CleanRecord] = []
         """Decoded clean records, most recent first."""
+        self.detail: Q10CleanRecordDetail | None = None
+        """Most recently pushed ``03 01`` clean-record map detail."""
+        self.detail_record: Q10CleanRecord | None = None
+        """Record associated with :attr:`detail_packet`, when requested here."""
+        self.detail_image_content: bytes | None = None
+        """Rendered clean-record detail image, if decoding succeeded."""
+        self._pending_detail_record: Q10CleanRecord | None = None
+        self._detail_response: asyncio.Future[None] | None = None
+        self._detail_task: asyncio.Task[None] | None = None
+        self._detail_requested = False
+        self._discard_detail_response = False
 
     @property
     def last_record(self) -> Q10CleanRecord | None:
@@ -134,13 +167,84 @@ async def refresh(self) -> None:
         asynchronously on the device stream and populate :attr:`records` once
         :meth:`update_from_dps` processes the ``dpCleanRecord`` push.
         """
-        if self._command is None:
-            raise ValueError("Trait is read-only; no command channel was provided")
         await self._command.send(
             B01_Q10_DP.COMMON,
             params={str(B01_Q10_DP.CLEAN_RECORD.code): {"op": "list"}},
         )
 
+    async def refresh_detail(self, record: Q10CleanRecord) -> None:
+        """Request the saved map and path for one clean record.
+
+        The complete 12-field raw record is the firmware's detail identifier;
+        the shorter human-facing record ID is not accepted. Only one request
+        may be outstanding because ``03 01`` responses carry no correlation ID.
+        Wait up to 30 seconds for its response. Timeout, cancellation, or send
+        failure blocks further selections until a late response is discarded.
+        Reconnecting does not reset this barrier. Other clients selecting
+        records concurrently cannot be distinguished by this protocol.
+        """
+        if not record.raw or not record.map_len:
+            raise RoborockException("The Q10 clean record has no saved map detail")
+        if self._pending_detail_record is not None:
+            raise RoborockException("A Q10 clean-record detail request is already pending")
+        if self._discard_detail_response:
+            raise RoborockException("A previous Q10 clean-record selection is unresolved; wait for its late response")
+        response: asyncio.Future[None] = asyncio.get_running_loop().create_future()
+        self._detail_response = response
+        self._detail_task = asyncio.current_task()
+        self._detail_requested = True
+        self._pending_detail_record = replace(record)
+        try:
+            async with asyncio.timeout(_DETAIL_TIMEOUT):
+                await self._command.send(
+                    B01_Q10_DP.COMMON,
+                    {str(B01_Q10_DP.CLEAN_RECORD.code): {"op": "select", "id": record.raw}},
+                )
+                await response
+        except TimeoutError as ex:
+            raise RoborockTimeout("Q10 archive detail request timed out") from ex
+        finally:
+            if self._detail_response is response:
+                if self._pending_detail_record is not None:
+                    self._discard_detail_response = True
+                self._pending_detail_record = None
+                self._detail_response = None
+                self._detail_task = None
+            if not response.done():
+                response.cancel()
+
+    def close(self) -> None:
+        """Cancel an active archive selection during device teardown."""
+        if self._pending_detail_record is not None:
+            self._discard_detail_response = True
+        if self._detail_task is not None:
+            self._detail_task.cancel()
+        if self._detail_response is not None:
+            self._detail_response.cancel()
+        self._pending_detail_record = None
+        self._detail_response = None
+        self._detail_task = None
+
+    @property
+    def detail_packet(self) -> Q10MapPacket | None:
+        """The map from the most recently received clean-record detail."""
+        return self.detail.map if self.detail else None
+
+    @property
+    def detail_trace(self) -> Q10HistoricalTracePacket | None:
+        """Historical path embedded in the selected clean-record detail."""
+        return self.detail.trace if self.detail else None
+
+    @property
+    def detail_path(self) -> list[Q10Point]:
+        """Historical path points for the selected clean record."""
+        return list(self.detail_trace.points) if self.detail_trace else []
+
+    @property
+    def detail_obstacles(self) -> list[Q10Obstacle]:
+        """Obstacle markers embedded in the selected clean-record map."""
+        return list(self.detail_packet.obstacles) if self.detail_packet else []
+
     def update_from_dps(self, decoded_dps: dict[B01_Q10_DP, Any]) -> None:
         """Apply a ``dpCleanRecord`` push (a full list reply or a single notify)."""
         envelope = decoded_dps.get(B01_Q10_DP.CLEAN_RECORD)
@@ -151,6 +255,37 @@ def update_from_dps(self, decoded_dps: dict[B01_Q10_DP, Any]) -> None:
             return
         self._apply(push)
 
+    def update_from_detail(self, detail: Q10CleanRecordDetail) -> None:
+        """Store and render a pushed clean-record detail map."""
+        if detail.map.kind is not Q10MapPacketKind.CLEAN_RECORD_DETAIL:
+            raise ValueError(f"Expected a Q10 clean-record detail packet, got {detail.map.kind.value}")
+        if self._discard_detail_response:
+            self._discard_detail_response = False
+            return
+        response = self._detail_response
+        if self._detail_requested and (response is None or response.done()):
+            # Cancellation can finish the future before refresh_detail's
+            # finally block runs. Drain this response in that interval too.
+            if response is not None and response.cancelled():
+                self._pending_detail_record = None
+            return
+        self.detail_record = self._pending_detail_record
+        self._pending_detail_record = None
+        self.detail = detail
+        try:
+            self.detail_image_content = render_q10_map(
+                detail.map,
+                detail.trace,
+                Q10MapOverlays(),
+                config=self._map_parser_config,
+            )
+        except RoborockException:
+            _LOGGER.debug("Failed to render Q10 clean-record detail", exc_info=True)
+            self.detail_image_content = None
+        if response is not None and not response.done():
+            response.set_result(None)
+        self._notify_update()
+
     def _apply(self, push: CleanRecordPush) -> None:
         """Merge or replace the records from ``push``, then sort newest-first and notify."""
         if push.replace: